// Copyright (c) 2023, Czech Technical University in Prague
// Copyright (c) 2019, paplhjak
// Copyright (c) 2009, Willow Garage, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the copyright holder nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//

#ifndef POINT_CLOUD_TRANSPORT__TRANSPORT_HINTS_HPP_
#define POINT_CLOUD_TRANSPORT__TRANSPORT_HINTS_HPP_

#include <memory>
#include <string>

#include <rclcpp/node.hpp>

#include "point_cloud_transport/visibility_control.hpp"

namespace point_cloud_transport
{

//! Stores transport settings for a point cloud topic subscription.
class TransportHints
{
public:
  ///
  /// Constructor.
  ///
  /// The default transport can be overridden by setting a certain parameter to the
  /// name of the desired transport. By default this parameter is named "point_cloud_transport"
  /// in the node's local namespace. For consistency across ROS applications, the
  /// name of this parameter should not be changed without good reason.
  ///
  /// \param node Node to use when looking up the transport parameter.
  /// \param default_transport Preferred transport to use
  /// \param parameter_name The name of the transport parameter
  POINT_CLOUD_TRANSPORT_PUBLIC
  TransportHints(
    const std::shared_ptr<rclcpp::Node> node,
    const std::string & default_transport = "raw",
    const std::string & parameter_name = "point_cloud_transport")
  {
    node->declare_parameter<std::string>(parameter_name, transport_);
    node->get_parameter_or<std::string>(parameter_name, transport_, default_transport);
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  TransportHints(
    const std::string & transport = "raw")
  : transport_(transport)
  {
  }

  POINT_CLOUD_TRANSPORT_PUBLIC
  const std::string & getTransport() const
  {
    return transport_;
  }

private:
  std::string transport_{"raw"};
};

}  // namespace point_cloud_transport
#endif  // POINT_CLOUD_TRANSPORT__TRANSPORT_HINTS_HPP_
